JPWO2017002142A1 - Robot system - Google Patents

Abstract

A robot system includes a robot including at least one support on which a person is placed, a plurality of multi-joint arms having a plurality of degrees of freedom, and at least one base provided with a plurality of multi-joint arms, and a plurality of multi-joints. At least one type of device attached to the joint arm, and the robot performs at least two care / medical related actions on the person by moving the at least one type of device.

Description

  The present invention relates to a robot system for nursing / medical related activities.

  Conventionally, various robots for performing care-related / medical-related actions for humans have been proposed. For example, FIG. 19 of Patent Document 1 discloses a dual-arm robot for care that lifts a person lying on a bed.

International Publication No. 2009/147832

  By the way, conventional robots that perform care-related or medical-related actions are designed exclusively for specific care-related or medical-related actions. Therefore, in order to perform a plurality of care / medical related actions, the same number of robots as the care / medical related actions are required.

  Therefore, an object of the present invention is to provide a robot system including a robot capable of performing a plurality of care / medical related actions by one robot.

  In order to solve the above problems, a robot system according to the present invention includes at least one support on which a person is placed, a plurality of articulated arms having a plurality of degrees of freedom, and at least a plurality of the articulated arms. A robot including one base, and at least one type of device attached to the plurality of articulated arms, the robot moving at least two types of the device to move at least 2 It is characterized by two care-related and medical-related activities.

  According to the above configuration, since the robot can be used as a platform for a plurality of care / medical related actions, a plurality of care / medical related actions can be performed by one robot.

  The at least one type of device includes a pair of permeation test devices respectively attached to two multi-joint arms of the plurality of multi-joint arms, and the at least two care / medical-related actions include a human permeation test. May be included. According to this configuration, the robot can be used in common for a human penetration test and other care / medical related activities.

  The at least one support includes a deformable bed partially swingable in the width direction, the at least one type of device includes a hand for operating the deformable bed, and the at least two care / medical related actions May include a posture change for changing a contact position between the deformable bed and a person via the deformable bed. According to this configuration, the robot can be commonly used for posture change and other care-related / medical activities.

  The at least one support includes a deformable bed deformable between a bed state and a chair state, and the at least one type of device includes a hand for operating the deformable bed, and the at least two care / medical devices The related action may include upper body wake-up that changes from a lying state to a sitting state via the deformable bed. According to this configuration, the robot can be commonly used for raising the body and performing other care / medical related activities.

  The robot system further includes an arm rest attached to at least one of the plurality of articulated arms, and the at least two care / medical-related actions are performed until the person stands up from a sitting state. It may include standing assistance to support the person. According to this configuration, the robot can be commonly used at least for raising the body and assisting in standing up.

  For example, the at least one type of device may include a plurality of types of devices and be detachably attached to the plurality of articulated arms.

  The at least one support may be coupled to the at least one base. According to this configuration, since the relative position between the support body and the base of the robot is fixed, positioning of the device attached to the articulated arm with respect to the person or the support body is facilitated.

  The at least one base may be disposed below the support body so that the entire at least one base is within the space occupied by the support body. According to this configuration, since the base of a relatively large robot is hidden under the support, other people can freely approach the person on the support from the periphery of the support. Therefore, it is possible to easily perform a treatment for a person placed on the support.

  The robot may be configured to store the plurality of articulated arms below the at least one support. According to this configuration, when the robot does not perform a care / medical related action, the articulated arm can be stored below the support and the robot can be stored below the support.

  For example, the robot may be configured to perform the at least two care / medical related actions based on voice or switch operation. Further, the robot may be configured to repeat the posture change at a predetermined interval.

  The robot system further includes a moving device that is incorporated in the base and includes a pair of servo motors that drive left and right wheels, and the robot is controlled by the pair of servo motors being controlled by a robot control panel. It may have been moved. According to this configuration, the robot can freely run freely.

  According to the present invention, it is possible to perform a plurality of care / medical related actions by one robot.

1 is a perspective view of a robot in a robot system according to an embodiment of the present invention. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the robot system, and shows one process when performing a transmission inspection. It is a perspective view of the robot system, and shows one process when raising the body. It is a perspective view of the robot system, and shows one process when raising the body. It is a perspective view of the robot system, and shows one process when raising the body. It is a perspective view of the robot system, and shows one process in the case where standing assistance is performed. It is a perspective view of the robot system, and shows one process in the case where standing assistance is performed. It is a perspective view of the robot system, and shows one process in the case where standing assistance is performed. It is a bottom view of the robot which shows a moving apparatus.

  2 to 13 show a robot system 1 according to an embodiment of the present invention, and FIG. 1 shows a robot 3 included in the robot system 1. In the present embodiment, the robot 3 performs four care / medical related actions on the person 10. The person 10 may be different for each care / medical related action.

  The first care / medical-related action is a posture change shown in FIGS. For example, the posture change may be performed during an operation for the purpose of preventing bedsores, or may be performed during nursing care. The second care / medical-related action is the transmission test shown in FIG. The third care / medical-related action is the upper body wake-up shown in FIGS. The fourth care-related / medical-related action is the standing assistance shown in FIGS.

  The robot system 1 includes a robot 3 and three supports 2 on which a person 10 shown in FIGS. The three supports 2 are a deformation bed 2A shown in FIGS. 2 to 6, a fixed bed 2B shown in FIG. 7, and a deformation bed 2C shown in FIGS.

  As shown in FIG. 1, the robot 3 includes a plurality of articulated arms 5 having a plurality of degrees of freedom and at least one base 4 on which the articulated arms 5 are provided. The degree of freedom of each articulated arm 5 is preferably 6 degrees of freedom (for example, 7 degrees of freedom). In the present embodiment, the number of bases 4 is one and the number of articulated arms 5 is two. However, the number of bases 4 may be two or more, and the number of articulated arms 5 may be three or more.

  In the present embodiment, the base 4 is disposed below the support 2 so that the entire base 4 can be accommodated in the space occupied by the support 2 in any of the four care-related / medical-related actions. Thereby, since the base 4 of the relatively large robot 3 is hidden under the support 2, other people can freely approach the person 10 placed on the support 2 from the periphery of the support 2. it can. Therefore, it is possible to easily perform treatment (for example, surgery or care) for the person 10 placed on the support 2. The robot 3 may be configured to perform four care / medical related actions based on voice or switch operation.

  Furthermore, in this embodiment, the robot 3 is configured so that the two articulated arms 5 can be stored below the support body 2 in any of the four care-related / medical-related actions. For this reason, when the robot 3 does not perform a care / medical related action, the articulated arm 5 can be stored below the support 2 and the robot 3 can be stored below the support 2.

  A plurality of types (two types in the present embodiment) of devices 6 corresponding to care-related / medical-related actions are detachably attached to the two articulated arms 5. The robot 3 performs the above-described four care / medical related actions by moving these devices 6 by the articulated arm 5. Although not shown, the robot 3 is equipped with an information acquisition device such as a camera or a sensor, and a robot control panel 41 (see FIG. 14) built in the base 4 based on the information obtained by the information acquisition device. The articulated arm 5 is controlled by reference.

  The two types of devices 6 are a pair of hands 61 used for posture change and upper body raising, and a pair of transmission inspection devices 62 used for transmission inspection. The pair of hands 61 are respectively attached to the tips of the two articulated arms 5, and the pair of permeation inspection devices 62 are respectively attached to the tips of the two articulated arms 5 instead of the hands 61.

  In the present embodiment, all of the three supports 2 (the deformed beds 2A and 2C and the fixed bed 2B) are connected to the base 4. Accordingly, since the relative position between the support 2 and the base 4 of the robot 3 is fixed, the positioning of the device 6 attached to the articulated arm 5 with respect to the person 10 or the support 2 is facilitated. However, each support body 2 does not necessarily need to be connected to the base 4, and some or all of the three support bodies 2 are supported by support columns standing on the floor on which the robot 3 is placed. It may be.

  It is desirable that the base 4 of the robot 3 is movable. For example, a moving device 9 as shown in FIG. The moving device 9 includes left and right wheels 92 for driving and front wheels 93 for driving. The moving device 9 includes a pair of servo motors 91 that drive the left and right wheels 92. The robot 3 is moved by the pair of servo motors 91 being controlled by the robot control panel 41. With such a configuration, the robot 3 can freely run freely. However, the base 4 of the robot 3 may be transferred by a transfer mechanism provided on the floor on which the robot 3 is placed.

  In the following, each of the above-mentioned care / medical related actions (position change, permeation examination, upper body erection, standing assistance) will be described in detail.

(Position change)
As shown in FIGS. 2 to 6, in changing the posture, a deformable bed 2 </ b> A that can partially swing in the width direction is used as the support 2. Moreover, the hand 61 is attached to both the articulated arms 5 in the posture change. The robot 3 changes the posture by changing the contact position between the deformable bed 2A and the person 10 via the deformable bed 2A by operating the deformable bed 2A with the hand 61.

  As described above, the deformation bed 2 </ b> A is connected to the base 4. In the present embodiment, the deformable bed 2A is connected to the base 4 via a first swing mechanism 23 (described later) disposed substantially at the center of the deformable bed 2A, and the deformable bed 2A is supported by the base 4. Yes. However, the deformation bed 2 </ b> A may be separated from the base 4 as described above.

  The deformation bed 2A is divided into a plurality (four in the illustrated example) pieces 21 in the longitudinal direction. Fences 22 are provided at both ends of each piece 21 in the width direction. The four pieces 21 are configured such that adjacent ones can relatively rotate about an axis extending in the longitudinal direction of the deformation bed 2A.

  In the present embodiment, the entire deformation bed 2A is configured to be swingable in the width direction. The deformable bed 2A includes a first swing mechanism 23 (see FIG. 4) that swings the entire deformable bed 2A in the width direction, and a second swing mechanism 24 (see FIG. 5) that swings each piece 21 in the width direction. )including.

  Furthermore, in this embodiment, a pair of log-shaped cushion 7 with respect to the person 10 is used by the posture change. For example, each cushion 7 may be configured to swell to a predetermined shape when a working fluid such as water or air is supplied, and to contract slightly when the working fluid is discharged. The cushion 7 may be stored below the deformable bed 2 </ b> A together with the articulated arm 5 in a contracted state when the robot 3 does not perform a care / medical related action.

  First, the robot 3 grasps the cushion 7 with both hands 61 and inserts one cushion 7 between the person 10 and the fence 22 as shown in FIG. Next, as shown in FIG. 4, the robot 3 operates the first swing mechanism 23 with one hand 61 to incline the entire deformation bed 2 </ b> A toward the inserted cushion 7, and then, as shown in FIG. 5. Further, the second swing mechanism 24 is operated with the hand 61 and the piece 21 at the end (the head side of the person 10) is tilted so as to return to the horizontal. Thereafter, as shown in FIG. 6, the robot 3 inserts the cushion 7 with the other hand 61 into the space formed between the end piece 21 and the person 10.

  Note that the posture change shown in FIGS. 2 to 6 is an example, and it is needless to say that the posture change can be performed by other methods. This is the same for the transmission inspection, raising the body and assisting standing up, which will be described later. Further, the robot 3 may be configured to repeat the posture change at a predetermined interval.

(Transmission inspection)
As shown in FIG. 7, a fixed bed 2 </ b> B is used as the support 2 in the transmission inspection. In the transmission inspection, the transmission inspection device 62 is attached to both the articulated arms 5. For example, one transmission inspection device 62 emits X-rays, and the other transmission inspection device 62 receives the X-rays. The robot 3 performs the transmission inspection by moving the pair of transmission inspection devices 62 along, for example, a spherical trajectory centered on the head of the person 10.

  As described above, the fixed bed 2 </ b> B is connected to the base 4. In the present embodiment, the fixed bed 2 </ b> B is connected to the base 4 at the substantially center of the fixed bed 2 </ b> B and is supported by the base 4. However, the fixed bed 2 </ b> B may be separated from the base 4 as described above.

(Upper body wake up)
As shown in FIGS. 8 to 10, in the upper body raising, a deformable bed 2 </ b> C that can be deformed between a bed state and a chair state is used as the support 2. Moreover, the hand 61 is attached to both the articulated arms 5 in the posture change. By operating the deformable bed 2C with the hand 61, the robot 3 raises the body through the deformable bed 2C to change the person 10 from lying down to sitting. On both sides of the deformable bed 2C, arm rests 8 used for standing assistance described later are arranged.

  As described above, the deformation bed 2 </ b> C is connected to the base 4. In the present embodiment, the deformable bed 2C is connected to the base 4 via a first hoisting mechanism 25, which will be described later, arranged at the approximate center of the deformable bed 2C, and the deformable bed 2C is supported by the base 4. . However, the deformation bed 2C may be separated from the base 4 as described above.

  The deformation bed 2C is divided into a plurality (four in the illustrated example) pieces 21 in the longitudinal direction. Fences 22 are provided at both ends of each piece 21 in the width direction. The four pieces 21 are configured such that adjacent ones can relatively rotate about an axis extending in the width direction of the deformation bed 2C. The deformation bed 2C includes a first hoisting mechanism 25 (see FIG. 9) for hoisting the two pieces 21 on the head side of the person 10 and a second hoisting mechanism (not shown) for hoisting the two pieces 21 on the foot side of the person 10. A).

  In the bed state shown in FIG. 8, all the pieces 21 are horizontal. First, as shown in FIG. 9, the robot 3 operates the first hoisting mechanism 25 with one hand 61 to raise the two pieces 21 on the head side. Next, as shown in FIG. 10, the second undulation mechanism is operated with the other hand 61 to hang down the two pieces 21 on the leg side.

(Standing assistance)
As shown in FIGS. 11 to 13, arm stand 8 is attached to both articulated arms 5 in standing support. However, the arm rest 8 may be attached only to one articulated arm 5. The robot 3 performs standing-up assistance to support the person 10 with the arm rest 8 until the person 10 stands up from the sitting state.

  Specifically, the robot 3 first attaches the arm rest 8 to the tip arm of each articulated arm 5 with the hand 61 as shown in FIG. Next, the robot 3 moves both arm rests 8 in front of the chest of the person 10 as shown in FIG. Thereafter, the robot 3 opens the armrest 8 as the person 10 stands up.

  For example, each arm rest 8 may be configured using the cushion 7 described above. More specifically, the shape of the arm rest 8 may be realized by dividing the inside of the cushion 7 that is expanded or contracted by the working fluid into a plurality of cells and supplying the working fluid to one of the cells. The arm rest 8 may be stored under the deformable bed 2 </ b> C together with the articulated arm 5 in a contracted state when the robot 3 does not perform a care / medical related action.

  As described above, in the robot system 1 according to the present embodiment, the robot 3 can be used as a platform for a plurality of care-related / medical activities. Can perform nursing care and medical related activities. In other words, the robot 3 can be commonly used for four care-related / medical-related actions.

<Modification>
The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention.

  For example, the robot 3 may perform at least two medical actions. For this reason, two or three of the four in the above-described embodiment may be performed as the care / medical related action performed by the robot 3. For example, when the robot 3 only changes the posture and raises the body, the robot system 1 may have only the hand 61 as the device 6. As described above, the robot system 1 may have at least one kind of device 6.

  Further, for example, when the robot 3 performs only the body raising and the standing assistance, the robot system 1 may have only the deformation bed 2 </ b> C as the support body 2. As described above, the robot system 1 may have at least one support 2.

  Or the support body 2 which has the function which can rock | fluctuate partially in the width direction of the deformation | transformation bed 2A, and the function which can deform | transform between the bed state and chair state of the deformation bed 2C may be used.

  Further, the care / medical related actions performed by the robot 3 are not limited to the care / medical related actions described in the embodiment. For example, other care / medical activities include rehabilitation, massage, and meal assistance. Various types of devices 6 can be attached to the articulated arm 5 of the robot 3 in accordance with care-related / medical activities.

DESCRIPTION OF SYMBOLS 1 Robot system 10 Person 2 Support body 2A, 2C Deformation bed 3 Robot 4 Base 41 Robot control board 5 Articulated arm 6 Equipment 61 Hand 62 Permeation inspection device 8 Arm stand 9 Moving device 91 Servo motor 92, 93 Wheel

Claims (12)

At least one support on which a person is placed;
A robot including a plurality of articulated arms having a plurality of degrees of freedom and at least one base provided with the plurality of articulated arms;
And at least one type of device attached to the plurality of articulated arms,
The robot system performs at least two care / medical related actions for the person by moving the at least one type of device. The at least one type of device includes a pair of permeation inspection devices respectively attached to two multi-joint arms of the plurality of multi-joint arms,
The robot system according to claim 1, wherein the at least two care / medical-related actions include a human penetration test. The at least one support includes a deformation bed that is partially swingable in the width direction;
The at least one type of device includes a hand for operating the deformation bed,
The robot system according to claim 1, wherein the at least two care / medical related actions include a posture change for changing a contact position between the deformable bed and a person via the deformable bed. The at least one support includes a deformable bed deformable between a bed state and a chair state;
The at least one type of device includes a hand for operating the deformation bed,
The robot according to any one of claims 1 to 3, wherein the at least two care / medical-related actions include upper body wake-up that changes from a lying state to a sitting state via the deformable bed. system. An arm rest that is attached to at least one of the plurality of articulated arms;
5. The robot system according to claim 4, wherein the at least two care / medical-related actions include standing assistance that supports the person on the armrest until the person stands up from a sitting state.   The robot system according to any one of claims 1 to 5, wherein the at least one type of device includes a plurality of types of devices and is detachably attached to the plurality of articulated arms.   The robot system according to claim 1, wherein the at least one support is connected to the at least one base.   The said at least one foundation is arrange | positioned under the said support body so that the whole of the said at least 1 foundation may be settled in the space occupied by the said support body. Robot system.   The robot system according to claim 1, wherein the robot is configured so that the plurality of articulated arms can be stored below the at least one support.   The robot system according to any one of claims 1 to 9, wherein the robot is configured to perform the at least two care / medical related actions based on voice or a switch operation.   The robot system according to claim 3, wherein the robot is configured to repeat the posture change at a predetermined interval. A moving device including a pair of servo motors that are incorporated in the base and that drives the left and right wheels;
The robot system according to any one of claims 1 to 11, wherein the robot is moved by the pair of servo motors being controlled by a robot control panel.

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